Active Cannulas for Bio-Sensing and Surgery

这项研究的目标是开发一种灵巧的、小尺寸的插管式机器人，用于微创手术和基于同轴组装的弹性管状结构的生物传感器输送应用。套管的移动和控制是基于通过用户通过远程操作系统本地或远程诱导的平移和旋转运动来存储和释放弹性能量。这项研究将为如何在灵活的结构中编码驱动以及如何控制它提供更好的理解和表征。它模仿了各种自然生物，如蛇、章鱼触手、大象鼻子等，因此可以被认为是一种受生物启发的装置。小型化、复杂的组织设备接口和远程操作等问题增加了该项目的科学挑战。这项活动以连贯的方式将研究活动与本科生和高中生的教育机会结合在一起。与此同时，它寻求开发一种改进的微创手术技术，通过提高医疗保健质量使许多人受益。

0651803CowanThe goal of this research is to develop a dexterous, small-size, cannulas type robot for Minimal Invasive Surgery (MIS) and bio-sensor delivery applications based on coaxially assembled elastic tubular structures. The movement and control of the cannulas is based on the storage and release of elastic energy via translational and rotational motions induced by the user either locally or remotely via tele-operation systems. The research will provide better understanding and characterization of how actuation can be encoded in flexible structures and how it can be controlled. It mimics various natural creatures such as snakes, octopus tentacles, elephant trunks, etc., hence it can be considered as a biologically-inspired device. Issues such as miniaturization, complex tissue-device interfacing, and tele-operation add onto the scientific challenges of the project. This activity integrates research activities with educational opportunities for undergraduate and high school students in a coherent fashion. At the same time, it seeks to develop an improved technology for minimally invasive surgery which could benefit many people through improved quality of health care.